TWI680038B - Brake release device and robot manipulator employing same - Google Patents

Abstract

This case provides a brake release device and a robot arm suitable for the brake release device. The robot arm includes a housing and a brake component. The housing defines an internal space and has an opening. The internal space communicates with the exterior of the housing through the opening. The brake component is disposed in the internal space. The robot arm is braked or unlocked corresponding to the position of the brake component. brakes. The brake release device is connected to the brake parts, and is partially located in the interior space. Part of the brake release device passes through the opening and is exposed to the housing. When the part of the brake release device exposed to the housing is moved by an external force, the brake release device drives the brake pieces to move synchronously. So that the robot arm can release the brakes.

Description

Brake releasing device and applicable robot arm

This case relates to a brake release device, in particular to a brake release device and a robot arm suitable for the brake release device.

Nowadays, with the development of automation, robotic arms have been widely used. The braking device in the robotic arm is an indispensable part. The robotic arm can move only when the brake is released. In order to take into account the smooth operation of the robotic arm To be safe with personnel, it is necessary to be able to brake or unlock the robot arm instantly and stably. The prior art mostly uses electric excitation to release the brake. However, because it requires an external power source for electric excitation, if the power is cut off and the power cannot be restored immediately, the brake cannot be released. It can only be manually released by removing the casing of the robot arm. Brake, which takes a long time, can easily cause safety concerns.

Therefore, how to develop a brake release device and a robot arm which can improve the conventional technology is an urgent need at present.

The purpose of this case is to provide a brake release device and a suitable robot arm. The brake pieces of the robot arm are located in the inner space of its housing. The robot arm brakes or releases the brakes corresponding to the position of the brake pieces. The brake release device is connected to the brake pieces. And part of the casing is exposed through the opening on the casing, and the user can apply external force to the part of the braking device exposed to the casing, so that the braking device will move the brake parts synchronously, and the robot will then release the brake. Because the user can pull or push the brake release device outside the robot arm to release the brake, the brake can be released immediately without removing the casing of the robot arm in the event of abnormal power failure.

In order to achieve the above purpose, the present invention provides a brake releasing device suitable for a robot arm. The robot arm includes a housing and a brake component. The housing defines an internal space and has an opening. The internal space communicates with the exterior of the housing through the opening. The brake component is disposed in the internal space. The robot arm is braked or unlocked corresponding to the position of the brake component. brakes. The brake release device is connected to the brake parts, and is partially located in the interior space. Part of the brake release device passes through the opening and is exposed to the housing. When the part of the brake release device exposed to the housing is moved by external force, the brake release device drives the brake pieces to move synchronously So that the robot arm can release the brakes.

In order to achieve the above purpose, the present invention further provides a robot arm, which includes a housing, a brake member, and a brake release device. The housing defines an internal space and has an opening. The internal space communicates with the outside of the housing through the opening. The brake parts are arranged in the internal space. The robot arm brakes or releases the brakes corresponding to the position of the brake parts. The brake release device is connected to the brake parts, and is partially located in the interior space. Part of the brake release device passes through the opening and is exposed to the housing. When the part of the brake release device exposed to the housing is moved by external force, the brake release device drives the brake pieces to move synchronously So that the robot arm can release the brakes.

Some typical embodiments embodying the features and advantages of this case will be described in detail in the description in the subsequent paragraphs. It should be understood that the present case can have various changes in different aspects, all of which do not depart from the scope of the present case, and that the descriptions and diagrams therein are essentially for the purpose of illustration, rather than limiting the case.

Figure 1 is a schematic diagram of the three-dimensional structure of the robot arm and the brake release device of the preferred embodiment of the present invention. Figure 2 is a schematic diagram of the internal structure of the robot arm shown in Figure 1, and Figure 3A is shown in Figure 1. Sectional view of the robot arm and the brake release device when the brake is released, FIG. 3B is a cross-sectional view of the robot arm and the brake release device when the brake is shown in FIG. 1, and FIG. 4 is a view shown in FIG. Schematic diagram of the breakdown structure of the brake parts and the brake release device. As shown in Figs. 1, 2, 3A, 3B, and 4, the robot arm 1 includes a housing 11, a brake member 12, and a brake release device 2. The housing 11 defines an internal space 13 and has an opening 14. The internal space 13 passes through the opening. 14 communicates with the exterior of the housing 11, the brake member 12 is disposed in the internal space 13, and the robot arm 1 brakes or releases the brake corresponding to the position of the brake member 12. The brake release device 2 is connected to the brake member 12, and the brake release device 2 is partially located in the internal space 13, partially penetrates the opening 14 and is exposed to the housing 11. When the part of the brake release device 2 exposed on the housing 11 is moved by an external force, the brake release device 2 drives the brake parts 12 to move synchronously, so that the robot arm 1 releases the brake. Since the brake release device 2 is partially exposed to the housing 11, the user can release the brake of the robot arm 1 by applying an external force to the portion of the brake release device 2 exposed to the housing 11, so that there is no need to remove the housing when the power is off 11 can immediately release the brakes.

In some embodiments, the robot arm 1 further includes a rotating shaft 15 and a ratchet wheel 16, and the brake member 12 includes an actuator 17, a fixing base 18, a stop 121, and an elastic member 122. The ratchet wheel 16 is sleeved on the rotating shaft 15, and the robot arm 1 The movement is driven by the rotation of the rotating shaft 15 and the ratchet wheel 16. The actuator 17 is fixed inside the casing 11 and is relatively stationary with the casing 11. The actuator 17 includes a hollow portion 171 for the brake release device 2, the stopper 121 and the elastic member 122 to pass through. The actuator 17 is, for example, a solenoid valve or other driving force element. The fixed base 18 includes a hollow portion 181, and the hollow portion 181 of the fixed base 18 and the hollow portion 171 of the actuator 17 are arranged correspondingly, for example, on the same straight line. One end of the elastic member 122 is connected to the stopper 121, and the other end of the elastic member 122 abuts against the fixing base 18. The brake release device 2 is fixed to the stopper 121 of the brake member 12. The robot arm 1 brakes or releases the brake according to the relative position between the stopper 121 and the ratchet wheel 16. When the power of the robot arm 1 is normal, the actuator 17 is controlled to drive the stopper 121 to brake or unlock the brakes. When the power is abnormal and the power cannot be restored, the brake release device 2 is exposed to the housing 11 The brake is partially released, and then the restoring force of the elastic member 122 is used to push the stopper 121 to brake. As shown in FIG. 3A, when the brake release device 2 is moved by an external force, the brake release device 2 drives the stopper 121 to move away from the ratchet wheel 16 and compresses the elastic member 122, so that the stopper 121 is separated from the rotation path of the ratchet wheel 16. Then, the ratchet wheel 16 can be rotated freely, and the robot arm 1 can release the brake according to this. In some embodiments, the external force can be used by the user to pull out the part of the brake release device 2 exposed from the housing 11. As shown in FIG. 3B, when the external force stops, the stopper 121 is driven toward the ratchet wheel 16 by the restoring force of the elastic member 122. The stopper 121 returns to the rotation path of the ratchet wheel 16 and blocks the ratchet wheel 16, the ratchet wheel 16 Unable to turn, so the robot arm 1 brakes.

In order to avoid that the brake release device 2 moves too long, which causes the brake release device 2 to be completely located in the internal space 13 or to protrude from the housing 11 excessively, in some embodiments, the brake release device 2 may further include but is not limited to the first A stopping portion 211 and a second stopping portion 212. The first stopper 211 and the second stopper 212 are structured to limit the movement range of the brake release device 2, wherein the first stopper 211 is exposed from the housing 11 and the second stopper 212 is located in the inner space 13. The diameter of the first blocking portion 211 and the diameter of the second blocking portion 212 are larger than the diameter of the opening 14. Therefore, in the brake release device 2, only a portion between the first stop portion 211 and the second stop portion 212 can pass through the opening 14, and the movable distance of the brake release device 2 is equivalent to the first stop portion 211 and The distance between the second stopping portions 212. In some embodiments, the diameter of the portion of the brake releasing device 2 between the first stop portion 211 and the second stop portion 212 is smaller than the aperture of the opening 14. In some embodiments, the diameter of the portion of the brake releasing device 2 between the first stop portion 211 and the second stop portion 212 is equal to the hole diameter of the opening 14 and is in close contact with each other, thereby maintaining the foreign object protection of the robot arm 1 ( Ingress Protection) feature.

In some embodiments, as shown in FIG. 5, the brake release device 2 may optionally include a connecting member 213 and a control button 214. One end of the control button 214 exposes the opening 14 and the other end is connected to a connecting member 213. The connecting member 213 is located in the internal space 13 and one end is connected to the brake member 12. The connecting member 213 may be, for example, but not limited to, a flexible wire and a rigid material. Moreover, the connecting member 213 can be fixed to the stopper 121. The control button 214 includes a first fixing portion 215, and the diameter of the first fixing portion 215 is smaller than or equal to the aperture of the opening 14. The housing 11 also has a second fixing portion 141 located at the opening 14, and the second fixing portion 141 and the first fixing The portion 215 has a combined structure. The control knob 214 is fixed to the opening 14 of the housing 11 through a combination between the first fixing portion 215 and the second fixing portion 141. When the first fixing portion 215 and the first When the two fixing portions 141 are separated, the control button 214 can be moved at the opening 14. In some embodiments, the first fixing portion 215 and the second fixing portion 141 may include, for example, but not limited to, corresponding threads, so that the first fixing portion 215 and the second fixing portion 141 are combined or separated by rotation, thereby making The control button 214 is detachably connected to the casing 11. The first fixing portion 215 and the second fixing portion 141 may also be other fixing methods such as engaging or wedging. When the control button 214 is moved by an external force, the connecting member 213 drives the stopper 121 to move away from the ratchet wheel 16 and compresses the elastic member 122, so that the stopper 121 is separated from the rotation path of the ratchet wheel 16, and the ratchet wheel 16 can be rotated freely. According to this, the robot arm 1 releases the brake. In some embodiments, the external force can be used by the user to pull out the control button 214 exposed on the housing 11. As shown in FIG. 3B, when the external force stops, the stopper 121 is driven toward the ratchet wheel 16 by the restoring force of the elastic member 122. The stopper 121 returns to the rotation path of the ratchet wheel 16 and blocks the ratchet wheel 16, the ratchet wheel 16 Unable to turn, so the robot arm 1 brakes.

In some embodiments, the control button 214 may further include a first blocking portion 211 and a second blocking portion 212. The first fixing portion 215 is located between the first blocking portion 211 and the second blocking portion 212. A stopper portion 211, the first fixing portion 215, and the second stopper portion 212 are integrally connected. The second stopper portion 212 is fixedly connected to the connecting member 213, and the movable distance of the control button 214 is equivalent to the first stopper portion 211. And the distance from the second stopper 212. In some embodiments, the diameter of the portion of the control button 214 between the first blocking portion 211 and the second blocking portion 212 is smaller than the aperture of the opening 14. In some embodiments, the diameter of the portion of the control button 214 between the first stop portion 211 and the second stop portion 212 is equal to the aperture of the opening 14 and is in close contact with each other, thereby maintaining the foreign object protection of the robot arm 1 (Ingress Protection) feature.

In addition, in the foregoing embodiment, the center of the opening 14 and the center of the openings of the hollow portions 171 and 181 are located on the same straight line, so the connecting member 213 passing through the hollow portions 171 and 181 can be oriented in the direction of the opening 14 without bending. extend. However, in reality, the position of the opening is not limited, and the brake release device 2 can be set to correspond to the position of the opening by bending the connecting member 213. For example, as shown in FIG. 6, in some embodiments, the opening 14 ′ is provided on the annular side wall of the housing 11, and the center of the opening 14 ′ and the opening centers of the hollow portions 171 and 181 are not located on the same straight line. It is arranged in the opening 14 'and connected to the connecting member 213, where the connecting member 213 is a flexible wire. In some embodiments, the brake release device 2 may optionally further include a steering assist 22, the steering assist 22 has a hollow portion for the connecting member 213 to pass through, and the steering assist 22 is formed by bending the auxiliary connecting member 213 so that The connecting member 213 and the control button 214 are disposed corresponding to the positions of the opening 14. In this embodiment, the steering auxiliary member 22 is used to assist the connecting member 213 for bending, so that the bent connecting member 213 can extend in the direction of the opening 14 ′, and accordingly the connecting member 213 and the control button 214 can correspond to the opening 14. 'Position.

In the embodiment shown in FIG. 2, the external force is used to pull the brake release device 2 exposed on the housing 11 to release the brake. In other words, the brake release device 2 is driven by the external force to synchronously move the brake member 12 toward the opening 14. In order to achieve braking. However, in other embodiments, the part of the brake release device 2 exposed on the housing 11 may be pushed by external force, so that the brake release device 2 drives the brake member 12 to move synchronously away from the opening 14, thereby realizing the brake release. The following description is based on Figures 7, 8, 9A and 9B.

FIG. 7 is a schematic diagram of the three-dimensional structure of a robot arm and a brake releasing device according to another preferred embodiment of the present invention. FIG. 8 is a schematic diagram of the internal structure of the robot arm shown in FIG. 7, and FIG. 9A is a view of FIG. 7. The robot arm and the brake releasing device are shown in a sectional view when the brake is released, and FIG. 9B is a sectional view of the robot arm and the brake releasing device in FIG. 7 when the brake is braked. In Figures 7, 8, 9A, and 9B, elements and structures similar to those shown in Figures 1, 2, 3A, and 3B are denoted by the same reference numerals, and will not be repeated here. However, compared with the robot arm 1 and the brake release device 2 shown in Figs. 1, 2, 3A and 3B, in the robot arm 1 'and the brake release device 2' shown in Figs. 7, 8, 9A, and 9B, The relative positional relationship among the ratchet wheel 16, the stopper 121, the elastic member 122, and the actuator 17 is changed. As shown in FIGS. 3A and 3B, the elastic member 122 is located on the side closer to the opening 14 in the opposite sides of the plane where the ratchet wheel 16 is located, and as shown in FIGS. 9A and 9B, the connecting member 213 is connected or adjacent to the stopper. In block 121, the elastic member 122 is located on one side farther from the opening 14 in the opposite sides of the plane where the ratchet wheel 16 is located. One end of the elastic member 122 is connected to the stopper 121, and the other end of the elastic member 122 abuts against the fixing base 18. Therefore, in the robot arm 1 ′ and the brake release device 2 ′ shown in FIGS. 7, 8, 9A, and 9B, as shown in FIG. 9A, the brake release device 2 ′ is moved away from the opening 14 or adjacent to the internal space by an external force. Moving in the direction of 13 synchronously drives the stopper 121 of the brake member 12 to move away from the ratchet wheel 16 and compresses the elastic member 122 to detach the stopper 121 from the rotation path of the ratchet wheel 16, thereby releasing the brake by the robot arm 1 '. As shown in FIG. 9B, the stopper 121 moves toward the opening 14 and approaches the ratchet wheel 16 driven by the restoring force of the elastic member 122. The stopper 121 blocks the ratchet wheel 16 because it is located on the rotation path of the ratchet wheel 16, and accordingly the robot arm 1 'Brake.

Actually, the application method and direction of the external force can be adjusted according to the structure and relative position of the brake releasing device and the brake member 12, which is not limited to the above example, and only needs to satisfy that the brake member 12 can be driven when the external force acts on the brake releasing device. The ratchet wheel 16 is separated from the rotation path of the ratchet wheel 16, and the braking member 12 can be reset and blocked by the restoring force of the elastic member 122, so that the user can immediately perform braking and unlocking the brake outside the housing 11. The entire brake release device may be hard material, or the brake release device may be an integrally formed hard material; or the brake release device may be part of a flexible material and the other part of a hard material, and the part of the flexible material is fixed to the brake part Between 12 and the hard material, part of the hard material is exposed to the casing 11.

In summary, the present case provides a brake release device and a robot arm suitable for the brake arm. The brake arm of the robot arm is located in the inner space of its housing. The robot arm brakes or releases the brake corresponding to the position of the brake component. The brake release device is connected to The brake parts are partially exposed through the opening in the housing, and the user can apply external force to the part of the brake release device exposed to the housing, so that the brake release device drives the brake pieces to move synchronously, and the robot arm releases the brake accordingly. . Since the user can pull or push the brake release device outside the robot arm to release the brake, the brake can be immediately released without removing the casing of the robot arm when the power cannot be restored immediately.

It should be noted that the above is merely a preferred embodiment for the purpose of illustrating the present case, and the present case is not limited to the described embodiments, and the scope of this case is determined by the scope of the attached patent application. And this case can be modified by people who are familiar with this technology, but they can not be separated from those who want to protect the scope of the attached patent application.

1, 1’‧‧‧ robot arm

11‧‧‧shell

12‧‧‧Brake Parts

121‧‧‧ Stop

122‧‧‧Elastic piece

13‧‧‧Internal space

14, 14’‧‧‧ opening

141‧‧‧Second Fixing Section

15‧‧‧ shaft

16‧‧‧ Ratchet

17‧‧‧Actuator

18‧‧‧ fixed seat

171, 181‧‧‧ Hollow

2, 2’‧‧‧ brake release device

211‧‧‧First stop

212‧‧‧Second stop

213‧‧‧Connector

214‧‧‧Control

215‧‧‧The first fixed part

22‧‧‧ steering accessories

FIG. 1 is a schematic diagram of a three-dimensional structure of a robot arm and a brake releasing device according to a preferred embodiment of the present invention.

Figure 2 is a schematic diagram of the internal structure of the robot arm shown in Figure 1.

FIG. 3A is a cross-sectional view of the robot arm and the brake release device shown in FIG. 1 when the brake is released.

FIG. 3B is a sectional view of the robot arm and the brake releasing device shown in FIG. 1 when braking.

FIG. 4 is an exploded schematic view of the brake parts and the brake releasing device shown in FIG. 1.

Fig. 5 is an enlarged schematic diagram of a dotted box portion in Fig. 3B.

FIG. 6 is a schematic diagram of the internal structure of a robot arm showing a modified example of the brake releasing device shown in FIG. 1.

FIG. 7 is a schematic diagram of the three-dimensional structure of a robot arm and a brake releasing device according to another preferred embodiment of the present invention.

Figure 8 is a schematic diagram of the internal structure of the robot arm shown in Figure 7.

FIG. 9A is a cross-sectional view of the robot arm and the brake release device shown in FIG. 7 when the brake is released.

FIG. 9B is a sectional view of the robot arm and the brake releasing device shown in FIG. 7 when braking.

Claims (21)

A brake releasing device is suitable for a robot arm. The robot arm includes a housing and a braking component. The housing defines an internal space and has an opening. The internal space communicates with the exterior of the housing through the opening. The brake member is disposed in the internal space, and the robot arm is used to brake or release the brake corresponding to the position of the brake member. The brake release device is connected to the brake member, and is partially located in the internal space, and partially passes through the opening. The brake release device is exposed to the housing, and when a part of the brake release device exposed to the housing is moved by an external force, the brake release device drives the brake parts to move synchronously, so that the robot arm releases the brake. The brake releasing device according to item 1 of the scope of the patent application, wherein the brake releasing device is made of hard material as a whole, and is fixed to the brake piece. The brake releasing device as described in item 1 of the scope of patent application, wherein part of the brake releasing device is a flexible material and the other part is a hard material. The brake release device according to item 1 of the scope of the patent application, wherein the brake release device includes a first stop portion and a second stop portion opposite to each other, the first stop portion is exposed from the housing, and the first Two stopper portions are located in the internal space, and the diameter of the first stopper portion and the diameter of the second stopper portion are larger than the opening diameter. When the first stopper portion is moved by the external force, The braking member is driven to move synchronously, so that the robot arm releases the brake, and the first stop portion or the second stop portion is restricted to be located in the opening. The brake releasing device according to item 4 of the scope of patent application, wherein a diameter of a portion between the first stop portion and the second stop portion is smaller than or equal to an aperture diameter of the opening. The brake releasing device according to item 1 of the scope of patent application, wherein the brake releasing device includes a connecting member and a control button, the connecting member is located in the internal space and is connected to the braking member, and one end of the control button is exposed to the An opening, the other end of the control button is connected to the connecting member, the control button includes a first fixing portion, the housing also has a second fixing portion at the opening, and the control button is connected via the first fixing And the second fixing portion are combined and fixed to the housing. When the first fixing portion is separated from the second fixing portion and the control button is moved by the external force in a direction away from the internal space, the The control button drives the connecting piece and the braking piece to move synchronously, so that the robot arm releases the brake. The brake releasing device according to item 6 of the scope of patent application, wherein the control button further includes a first stop portion and a second stop portion, and the first fixing portion is located between the first stop portion and the second stop portion. Between the stopping portions, the first stopping portion, the first fixing portion and the second stopping portion are connected, the second stopping portion is connected to the connecting member, and the diameter of the first fixing portion is smaller than or equal to the The aperture of the opening. The brake releasing device according to item 6 of the patent application scope, wherein the connecting member is a flexible material. The brake releasing device according to item 1 of the scope of patent application, wherein the robot arm further includes a rotating shaft and a ratchet, the ratchet is sleeved on the rotating shaft, and the braking member includes a stopper and an elastic member. When the brake device is moved by the external force, the brake release device drives the stopper to move away from the ratchet and compresses the elastic member, so that the stopper is separated from the rotation path of the ratchet, and accordingly the robot arm releases the brake, When the external force stops, the stopper is driven toward the ratchet by the restoring force of the elastic member. The stopper returns to the rotation path of the ratchet and blocks the ratchet, thereby braking the robot arm. The brake release device according to item 9 of the scope of the patent application, wherein the brake component further includes an actuator and a fixed seat, the actuator is fixed to the housing, and includes a hollow portion for the brake release device. The stopper and the elastic member are penetrating, the hollow portion of the actuator is arranged corresponding to a hollow portion of the fixed seat, one end of the elastic member is connected to the stopper, and the other end of the elastic member abuts On the fixed seat. According to the brake release device described in item 1 of the scope of patent application, the brake release device moves toward the opening or away from the internal space when the external force is applied. According to the brake release device described in item 1 of the scope of patent application, the brake release device moves in a direction away from the opening or in a direction of the internal space when the external force is applied. A robot arm includes a housing, a brake member, and a brake releasing device. The housing defines an internal space and has an opening. The internal space communicates with the exterior of the housing through the opening, and the brake component is disposed on the housing. In the internal space, the robot arm brakes or releases the brakes corresponding to the position of the brakes. The brake release device is connected to the brakes and is partially located in the internal space and partially penetrates the opening to be exposed to the housing. When the part of the brake release device exposed on the housing is moved by an external force, the brake release device drives the brake parts to move synchronously, so that the robot arm releases the brake. The robot arm according to item 13 of the scope of patent application, wherein the brake release device includes a first stopper portion and a second stopper portion opposite to each other, the first stopper portion is exposed from the housing, and the second stopper portion The stopper is located in the internal space, and the diameter of the first stopper and the diameter of the second stopper are larger than the aperture of the opening. When the first stopper moves under the action of the external force, it drives The brake member moves synchronously, so that the robot arm releases the brake, and the first stop portion or the second stop portion is restricted to be located in the opening. The robot arm according to item 13 of the scope of patent application, wherein the brake releasing device includes a connecting member and a control button, the connecting member is located in the internal space and is connected to the braking member, and one end of the control button exposes the opening. The other end of the control button is connected to the connecting member. The control button includes a first fixing portion. The housing also has a second fixing portion at the opening. The control button is connected to the first fixing portion via the first fixing portion. Combined with the second fixing portion and fixed to the housing, the control is performed when the first fixing portion is separated from the second fixing portion and the control button is moved away from the internal space by the external force. The button drives the connecting part and the braking part to move synchronously, so that the robot arm releases the brake. The robot arm according to item 15 of the scope of patent application, wherein the control button further includes a first stop portion and a second stop portion, and the first fixing portion is located between the first stop portion and the second stop portion. Between the stopping portions, the first stopping portion, the first fixing portion and the second stopping portion are connected, the second stopping portion is connected to the connecting member, and the diameter of the first fixing portion is less than or equal to the opening Of the aperture. The robot arm according to item 16 of the scope of patent application, wherein a diameter of a portion between the first blocking portion and the second blocking portion is smaller than or equal to a hole diameter of the opening. The robot arm according to item 17 of the scope of patent application, further comprising a rotating shaft and a ratchet, the ratchet is sleeved on the rotating shaft, the braking member includes a stopper and an elastic member, and the external force is applied to the braking device. When acting and moving, the brake releasing device drives the stopper to move away from the ratchet and compresses the elastic member, so that the stopper is released from the rotation path of the ratchet, and accordingly the robot arm releases the brake and acts on the external force. When stopped, the stopper is driven toward the ratchet wheel by the restoring force of the elastic member, and the stopper returns to the rotation path of the ratchet wheel and blocks the ratchet wheel, thereby braking the robot arm. The robot arm according to item 18 of the scope of the patent application, wherein the braking component further comprises an actuator and a fixed seat, the actuator is fixed to the housing, and includes a hollow portion for the brake releasing device, The stopper and the elastic member are penetrated, the hollow portion of the actuator is arranged corresponding to a hollow portion of the fixed seat, one end of the elastic member is connected to the stopper, and the other end of the elastic member abuts on The fixed seat. The robot arm according to item 19 of the scope of patent application, wherein the control button moves the connecting member and the stopper toward the opening or moves away from the internal space and compresses the elasticity when the external force is applied. Pieces. The robot arm according to item 19 of the scope of patent application, wherein the control button moves the connecting member and the stopper away from the opening or moves toward the inner space and compresses the elasticity when the external force is applied. Pieces.